| 200,7 → 200,7 |
|---|
| for(i=0; i<NEUTRAL_FILTER; i++) |
| { |
| Delay_ms_Mess(10); |
| gier_neutral += AdWertGier; |
| gier_neutral += AdWertGier; |
| nick_neutral += AdWertNick; |
| roll_neutral += AdWertRoll; |
| } |
| 255,7 → 255,7 |
|---|
| Poti2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110; |
| Poti3 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110; |
| Poti4 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110; |
| ServoActive = 1; |
| ServoActive = 1; |
| SenderOkay = 100; |
| } |
| |
| 277,8 → 277,8 |
|---|
| //DebugOut.Analog[21] = MesswertNick; |
| //DebugOut.Analog[22] = MesswertRoll; |
| //DebugOut.Analog[22] = Mess_Integral_Gier; |
| //DebugOut.Analog[21] = MesswertNick; |
| //DebugOut.Analog[22] = MesswertRoll; |
| //DebugOut.Analog[21] = MesswertNick; |
| //DebugOut.Analog[22] = MesswertRoll; |
| |
| // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
| 297,12 → 297,12 |
|---|
| AdReady = 0; |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
| else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
| if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
| else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
| else winkel_roll = Mess_IntegralRoll; |
| |
| if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
| else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
| if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
| else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
| else winkel_nick = Mess_IntegralNick; |
| |
| // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| 315,7 → 315,7 |
|---|
| tmpl3 *= Parameter_AchsKopplung2; //65 |
| tmpl3 /= 4096L; |
| tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
| tmpl4 *= Parameter_AchsKopplung2; //65 |
| tmpl4 *= Parameter_AchsKopplung2; //65 |
| tmpl4 /= 4096L; |
| KopplungsteilNickRoll = tmpl3; |
| KopplungsteilRollNick = tmpl4; |
| 385,7 → 385,7 |
|---|
| if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
| else { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
| |
| if(Parameter_Gyro_D) |
| if(Parameter_Gyro_D) |
| { |
| d2Nick = HiResNick - oldNick; |
| oldNick = (oldNick + HiResNick)/2; |
| 399,7 → 399,7 |
|---|
| MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
| HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
| HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
| } |
| } |
| |
| if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| 462,13 → 462,13 |
|---|
| if(!MotorenEin) |
| { |
| MikroKopterFlags &= ~(FLAG_MOTOR_RUN | FLAG_FLY); |
| for(i=0;i<MAX_MOTORS;i++) |
| { |
| if(!PC_MotortestActive) MotorTest[i] = 0; |
| for(i=0;i<MAX_MOTORS;i++) |
| { |
| if(!PC_MotortestActive) MotorTest[i] = 0; |
| Motor[i] = MotorTest[i]; |
| } |
| } |
| if(PC_MotortestActive) PC_MotortestActive--; |
| } |
| } |
| else MikroKopterFlags |= FLAG_MOTOR_RUN; |
| |
| DebugOut.Analog[12] = Motor[0]; |
| 722,7 → 722,7 |
|---|
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // neue Werte von der Funke |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| |
| if(!NewPpmData-- || Notlandung) |
| { |
| static int stick_nick,stick_roll; |
| 900,8 → 900,8 |
|---|
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
| } |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| 1188,7 → 1188,7 |
|---|
| // DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion; |
| // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
| DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
| DebugOut.Analog[30] = GPS_Nick; |
| DebugOut.Analog[30] = GPS_Nick; |
| DebugOut.Analog[31] = GPS_Roll; |
| |
| |
| 1222,7 → 1222,7 |
|---|
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
| if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
| |
| if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
| if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
| 1238,7 → 1238,7 |
|---|
| // Maximalwerte abfangen |
| // #define MAX_SENSOR (4096*STICK_GAIN) |
| #define MAX_SENSOR (4096*4) |
| if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| 1248,11 → 1248,11 |
|---|
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // all BL-Ctrl connected? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(MissingMotor) if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
| { |
| modell_fliegt = 1; |
| GasMischanteil = MIN_GAS; |
| } |
| if(MissingMotor) if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
| { |
| modell_fliegt = 1; |
| GasMischanteil = MIN_GAS; |
| } |
| |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Höhenregelung |
| 1265,8 → 1265,7 |
|---|
| static char delay = 100; |
| if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| { |
| if(((EE_Parameter.BitConfig & CFG_HIGHT_3SWITCH) && ((Parameter_MaxHoehe > 80) && (Parameter_MaxHoehe < 140))) || |
| (!(EE_Parameter.BitConfig & CFG_HIGHT_3SWITCH) && (Parameter_MaxHoehe < 50))) |
| if(Parameter_MaxHoehe < 50) |
| { |
| if(!delay--) |
| { |
| 1383,7 → 1382,7 |
|---|
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Universal Mixer |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| for(i=0; i<MAX_MOTORS; i++) |
| for(i=0; i<MAX_MOTORS; i++) |
| { |
| signed int tmp_int; |
| if(Mixer.Motor[i][0] > 0) |
| 1393,9 → 1392,9 |
|---|
| tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
| tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
| tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]); // Filter |
| tmp_int = tmp_motorwert[i] / STICK_GAIN; |
| tmp_int = tmp_motorwert[i] / STICK_GAIN; |
| CHECK_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS); |
| Motor[i] = tmp_int; |
| Motor[i] = tmp_int; |
| } |
| else Motor[i] = 0; |
| } |